Full-automatic triaxial air bearing table micro-interference force moment measurement system and method

Abstract

The invention discloses a full-automatic triaxial air bearing table micro-interference force moment measurement system and a method. The full-automatic triaxial air bearing table micro-interference force moment measurement system comprises an air floating ball and a ball socket, wherein a gyroscope is arranged on the air floating ball for measuring angular velocities omega m in three directions, three balancing mass blocks m1, m2 and m3 and a jet system are arranged on the air floating ball, the rotational inertia matrix of a system formed by the air floating ball, the gyroscope, the mass blocks and the jet system under coordinates of air floating ball is a 3*3 matrix Ia, the air floating ball can generate initial angular velocity by the jet system, the angular velocity omega m of the air floating ball during rotation can be measured by the gyroscope, and the interference force moments in three directions can be calculated according to Ia. According to the full-automatic triaxial air bearing table micro-interference force moment measurement system and the method, the interference problem between a bearing of the air floating ball and the ball socket can be effectively solved through nutation formed by a symmetrical structure during rotation entirely, and the interference force moment of the bearing of the air floating ball can be measured in a small-angle range.

Description

technical field [0001] The present invention relates to the measurement of micro-level disturbance torque, and more specifically relates to a three-axis air bearing table and the like that need to accurately measure disturbance torque in all directions, and at the same time, there is mechanical interference in single-axis measurement, which makes it difficult to measure. Background technique [0002] As an effective ground test equipment for the development of high-precision spacecraft and the verification of attitude control systems and compensation algorithms, the three-axis air bearing table needs to accurately measure the disturbance torque in all directions. Current engineering practice is generally based on Measure the longitudinal disturbance moment, but because the disturbance moment T d The magnitude of the gyroscope is very small, and the accuracy of the angle measurement rate of instruments such as gyroscopes is limited. When measuring the disturbance torque by ...

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Problems solved by technology

Current engineering practice is generally based on Measure the longitudinal disturbance moment, but because the disturbance moment T d The magnitude of the gyroscope is very small, and the accuracy of the angle measurement rate of instruments such as gyroscopes is limited. When measuring the disturbance torque by this method, it takes a long time to integrate to measure the result due to T d The resulting change in ω is reflected in T d However, due to the long integration time, the air float ball needs to turn through a large angle, so this method is not applicable in both horizontal directions, otherwise the air float ball will hit the ball socket

At present, there is no effective means to solve such problems in engineering. Generally, the disturbance torque in the three directions is the same by default, and there is a lack of test data support.

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